Add a lidar model and sensor
ROS 2 → Add simulated sensing
A scan is ranges plus geometry
The lidar tutorial explains LaserScan, adds a laser frame to the robot and simulates range measurements. The range array only makes sense together with its angle information, frame and time.
Reference environment: Ubuntu 24.04, ROS 2 Jazzy and Gazebo Harmonic. Some Articulated Robotics videos use older Foxy/Gazebo Classic examples. Use the linked documentation for compatible commands and plugins. You can read and watch on mobile; simulation needs a computer.
Video by Josh Newans / Articulated Robotics ↗ · Starts at 2:47
Lesson notes
- Mount the laser with a transform relative to the robot body.
- Inspect the simulated scan topic before starting SLAM.
- The physical USB-driver section is optional for this course.
Explain it in your own words
Why does the mapper need the laser frame?
Compare your explanation
It must transform each scan from the sensor's coordinate system into the robot/map geometry.
Further reading and sources
Completion saves automatically after you read through to the end.
Next lesson →